diff options
Diffstat (limited to 'docs/user_guide/aruco_markers')
6 files changed, 21 insertions, 21 deletions
diff --git a/docs/user_guide/aruco_markers/camera_calibration.md b/docs/user_guide/aruco_markers/camera_calibration.md index 1019fc1..ad28200 100644 --- a/docs/user_guide/aruco_markers/camera_calibration.md +++ b/docs/user_guide/aruco_markers/camera_calibration.md @@ -5,7 +5,7 @@ Any camera device have to be calibrated to compensate its optical distorsion.  -The first step to calibrate a camera is to create an [ArUcoBoard](../../../argaze/#argaze.ArUcoMarkers.ArUcoBoard) like in the code below: +The first step to calibrate a camera is to create an [ArUcoBoard](../../argaze.md/#argaze.ArUcoMarkers.ArUcoBoard) like in the code below: ``` python from argaze.ArUcoMarkers import ArUcoMarkersDictionary, ArUcoBoard @@ -20,7 +20,7 @@ aruco_board = ArUcoBoard.ArUcoBoard(7, 5, 5, 3, aruco_dictionary) aruco_board.save('./calibration_board.png', 300) ``` -Then, the calibration process needs to make many different captures of an [ArUcoBoard](../../../argaze/#argaze.ArUcoMarkers.ArUcoBoard) through the camera and then, pass them to an [ArUcoDetector](../../../argaze/#argaze.ArUcoMarkers.ArUcoDetector.ArUcoDetector) instance to detect board corners and store them as calibration data to an [ArUcoOpticCalibrator](../../../argaze/#argaze.ArUcoMarkers.ArUcoOpticCalibrator) for final calibration process. +Then, the calibration process needs to make many different captures of an [ArUcoBoard](../../argaze.md/#argaze.ArUcoMarkers.ArUcoBoard) through the camera and then, pass them to an [ArUcoDetector](../../argaze.md/#argaze.ArUcoMarkers.ArUcoDetector.ArUcoDetector) instance to detect board corners and store them as calibration data to an [ArUcoOpticCalibrator](../../argaze.md/#argaze.ArUcoMarkers.ArUcoOpticCalibrator) for final calibration process.  @@ -81,7 +81,7 @@ else: print('\nCalibration error.') ``` -Then, the camera calibration data are loaded to compensate optical distorsion during [ArUcoMarkers](../../../argaze/#argaze.ArUcoMarkers.ArUcoMarker) detection: +Then, the camera calibration data are loaded to compensate optical distorsion during [ArUcoMarkers](../../argaze.md/#argaze.ArUcoMarkers.ArUcoMarker) detection: ``` python from argaze.ArUcoMarkers import ArUcoOpticCalibrator diff --git a/docs/user_guide/aruco_markers/introduction.md b/docs/user_guide/aruco_markers/introduction.md index 8f4baf9..dc8d4cb 100644 --- a/docs/user_guide/aruco_markers/introduction.md +++ b/docs/user_guide/aruco_markers/introduction.md @@ -5,11 +5,11 @@ About ArUco markers The OpenCV library provides a module to detect fiducial markers into a picture and estimate its pose (cf [OpenCV ArUco tutorial page](https://docs.opencv.org/4.x/d5/dae/tutorial_aruco_detection.html)). -The ArGaze [ArUcoMarkers submodule](../../../argaze/#argaze.ArUcoMarkers) eases markers creation, camera calibration, markers detection and 3D scene pose estimation through a set of high level classes: - -* [ArUcoMarkersDictionary](../../../argaze/#argaze.ArUcoMarkers.ArUcoMarkersDictionary) -* [ArUcoMarkers](../../../argaze/#argaze.ArUcoMarkers.ArUcoMarker) -* [ArUcoBoard](../../../argaze/#argaze.ArUcoMarkers.ArUcoBoard) -* [ArUcoOpticCalibrator](../../../argaze/#argaze.ArUcoMarkers.ArUcoOpticCalibrator) -* [ArUcoDetector](../../../argaze/#argaze.ArUcoMarkers.ArUcoDetector) -* [ArUcoScene](../../../argaze/#argaze.ArUcoMarkers.ArUcoScene)
\ No newline at end of file +The ArGaze [ArUcoMarkers submodule](../../argaze.md/#argaze.ArUcoMarkers) eases markers creation, camera calibration, markers detection and 3D scene pose estimation through a set of high level classes: + +* [ArUcoMarkersDictionary](../../argaze.md/#argaze.ArUcoMarkers.ArUcoMarkersDictionary) +* [ArUcoMarkers](../../argaze.md/#argaze.ArUcoMarkers.ArUcoMarker) +* [ArUcoBoard](../../argaze.md/#argaze.ArUcoMarkers.ArUcoBoard) +* [ArUcoOpticCalibrator](../../argaze.md/#argaze.ArUcoMarkers.ArUcoOpticCalibrator) +* [ArUcoDetector](../../argaze.md/#argaze.ArUcoMarkers.ArUcoDetector) +* [ArUcoScene](../../argaze.md/#argaze.ArUcoMarkers.ArUcoScene)
\ No newline at end of file diff --git a/docs/user_guide/aruco_markers/markers_creation.md b/docs/user_guide/aruco_markers/markers_creation.md index 89c7fc6..eab9890 100644 --- a/docs/user_guide/aruco_markers/markers_creation.md +++ b/docs/user_guide/aruco_markers/markers_creation.md @@ -1,7 +1,7 @@ Markers creation ================ -The creation of [ArUcoMarkers](../../../argaze/#argaze.ArUcoMarkers.ArUcoMarker) from a dictionary is illustrated in the code below: +The creation of [ArUcoMarkers](../../argaze.md/#argaze.ArUcoMarkers.ArUcoMarker) from a dictionary is illustrated in the code below: ``` python from argaze.ArUcoMarkers import ArUcoMarkersDictionary diff --git a/docs/user_guide/aruco_markers/markers_detection.md b/docs/user_guide/aruco_markers/markers_detection.md index 9a3bc9f..af2fb4f 100644 --- a/docs/user_guide/aruco_markers/markers_detection.md +++ b/docs/user_guide/aruco_markers/markers_detection.md @@ -3,7 +3,7 @@ Markers detection  -Firstly, the [ArUcoDetector](../../../argaze/#argaze.ArUcoMarkers.ArUcoDetector.ArUcoDetector) needs to know the expected dictionary and size (in centimeter) of the [ArUcoMarkers](../../../argaze/#argaze.ArUcoMarkers.ArUcoMarker) it have to detect. +Firstly, the [ArUcoDetector](../../argaze.md/#argaze.ArUcoMarkers.ArUcoDetector.ArUcoDetector) needs to know the expected dictionary and size (in centimeter) of the [ArUcoMarkers](../../argaze.md/#argaze.ArUcoMarkers.ArUcoMarker) it have to detect. Notice that extra parameters are passed to detector: see [OpenCV ArUco markers detection parameters documentation](https://docs.opencv.org/4.x/d1/dcd/structcv_1_1aruco_1_1DetectorParameters.html) to know more. @@ -19,7 +19,7 @@ extra_parameters = ArUcoDetector.DetectorParameters.from_json('./detector_parame aruco_detector = ArUcoDetector.ArUcoDetector(optic_parameters=optic_parameters, dictionary='DICT_APRILTAG_16h5', marker_size=5, parameters=extra_parameters) ``` -Here is [DetectorParameters](../../../argaze/#argaze.ArUcoMarkers.ArUcoDetector.DetectorParameters) JSON file example: +Here is [DetectorParameters](../../argaze.md/#argaze.ArUcoMarkers.ArUcoDetector.DetectorParameters) JSON file example: ``` { @@ -29,7 +29,7 @@ Here is [DetectorParameters](../../../argaze/#argaze.ArUcoMarkers.ArUcoDetector. } ``` -The [ArUcoDetector](../../../argaze/#argaze.ArUcoMarkers.ArUcoDetector.ArUcoDetector) processes image to detect markers and allows to draw detection results onto it: +The [ArUcoDetector](../../argaze.md/#argaze.ArUcoMarkers.ArUcoDetector.ArUcoDetector) processes image to detect markers and allows to draw detection results onto it: ``` python # Detect markers into image and draw them diff --git a/docs/user_guide/aruco_markers/markers_pose_estimation.md b/docs/user_guide/aruco_markers/markers_pose_estimation.md index 45ef70d..487c220 100644 --- a/docs/user_guide/aruco_markers/markers_pose_estimation.md +++ b/docs/user_guide/aruco_markers/markers_pose_estimation.md @@ -1,7 +1,7 @@ Markers pose estimation ======================= -After [ArUcoMarkers](../../../argaze/#argaze.ArUcoMarkers.ArUcoMarker) detection, it is possible to estimate [ArUcoMarkers](../../../argaze/#argaze.ArUcoMarkers.ArUcoMarker) pose in camera axis. +After [ArUcoMarkers](../../argaze.md/#argaze.ArUcoMarkers.ArUcoMarker) detection, it is possible to estimate [ArUcoMarkers](../../argaze.md/#argaze.ArUcoMarkers.ArUcoMarker) pose in camera axis.  diff --git a/docs/user_guide/aruco_markers/markers_scene_description.md b/docs/user_guide/aruco_markers/markers_scene_description.md index 5ac0eae..e1cd651 100644 --- a/docs/user_guide/aruco_markers/markers_scene_description.md +++ b/docs/user_guide/aruco_markers/markers_scene_description.md @@ -1,11 +1,11 @@ Markers scene description ========================= -The ArGaze toolkit provides [ArUcoScene](../../../argaze/#argaze.ArUcoMarkers.ArUcoScene) class to describe where [ArUcoMarkers](../../../argaze/#argaze.ArUcoMarkers.ArUcoMarker) are placed into a 3D model. +The ArGaze toolkit provides [ArUcoScene](../../argaze.md/#argaze.ArUcoMarkers.ArUcoScene) class to describe where [ArUcoMarkers](../../argaze.md/#argaze.ArUcoMarkers.ArUcoMarker) are placed into a 3D model.  -[ArUcoScene](../../../argaze/#argaze.ArUcoMarkers.ArUcoScene) is useful to: +[ArUcoScene](../../argaze.md/#argaze.ArUcoMarkers.ArUcoScene) is useful to: * filter markers that belongs to this predefined scene, * check the consistency of detected markers according the place where each marker is expected to be, @@ -37,7 +37,7 @@ f 5//2 6//2 8//2 7//2 ... ``` -Here is a sample of code to show the loading of an [ArUcoScene](../../../argaze/#argaze.ArUcoMarkers.ArUcoScene) OBJ file description: +Here is a sample of code to show the loading of an [ArUcoScene](../../argaze.md/#argaze.ArUcoMarkers.ArUcoScene) OBJ file description: ``` python from argaze.ArUcoMarkers import ArUcoScene @@ -55,7 +55,7 @@ for place_id, place in aruco_scene.places.items(): ### from JSON -[ArUcoScene](../../../argaze/#argaze.ArUcoMarkers.ArUcoScene) description can also be written in a JSON file format. +[ArUcoScene](../../argaze.md/#argaze.ArUcoMarkers.ArUcoScene) description can also be written in a JSON file format. ``` json { @@ -111,7 +111,7 @@ consistent_markers, unconsistent_markers, unconsistencies = aruco_scene.check_ma ## Scene pose estimation -Several approaches are available to perform [ArUcoScene](../../../argaze/#argaze.ArUcoMarkers.ArUcoScene) pose estimation from markers belonging to the scene. +Several approaches are available to perform [ArUcoScene](../../argaze.md/#argaze.ArUcoMarkers.ArUcoScene) pose estimation from markers belonging to the scene. The first approach considers that scene pose can be estimated **from a single marker pose**: |